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Drive functions

Abstract class ReadWriteParameter

This abstract class is the basis of all implementations. It contains basic functionality that is present in all implementations.

Method execute

This method needs to be called cyclically during operation. It contains the main logic of the drive functions. It has no interface.

Method errorDiagnostics

Symbol Datatype  Type Explanation
errorDiagnostics LAcycCom_ooptypeDrivediagnostics RETURN Returns the diagnostic information of the class

Used to retrieve diagnostic information, if an error occured during operation.

Method Status

Symbol Datatype  Type Explanation
Status LAcycComstateDef RETURN Returns the state of the class

Used to receive the state of the operation.

Method Config

Symbol Datatype  Type Explanation
requestBuffer Resourcemanager INPUT Reference to the resource manager
Config BOOL RETURN TRUE: Configuration was successful, FALSE: No valid configuration

Used to attach a resource manager instance to the class. For operation, a valid resource manager is necessary.

Class classReadDriveParams

Method AddatasetItem

Symbol Datatype  Type Explanation
datasetItem LAcycCom_typeDriveDataset INPUT Item you want to add to the dataset for a read request
element_no INT  INPUT  -1: add to the list. >= 0: Overwrite item on the list
AddatasetItem  INT  RETURN  number of list entries after adding the dataset 

Adds a dataset item to the list of items you want to read from the drive. You can either write all items into a specific list element, or let the system attach the item to the list by setting the element number to -1.

Method Start

Symbol Datatype  Type Explanation
driveObjectId INT INPUT Optional: Identification number of the drive object (value = -1: driveObjectId is not used, i.e. the corresponding drive object is only addressed via the hardwareId)
hardwareId HW_IO INPUT hardware id of the device
parameterCount INT INPUT number of parameters to read
Start BOOL RETURN TRUE: Command was started successfully FALSE: Command could not be started, there is an issue in the configuration

Starts a request to read multiple parameters that have been added to the dataset list via the AddatasetItem method.

For compability reasons, there are two more methods with the name start in this class. In one instance, the input driveObjectId is set as an UINT for legacy users to avoid breaking existing applications. The second instance drops the input driveObjectId completely, if you are using the hardware id of the submodule.

Method ReaddatasetItem

Symbol Datatype  Type Explanation
element_no INT INPUT item index you want to read
ReaddatasetItem LAcycCom_typeDriveDataset RETURN Returns the dataset for the element number you requested

Method ReaddatasetValue

Symbol Datatype  Type Explanation
element_no INT INPUT item index you want to read
ReaddatasetValue REAL RETURN Returns the value of the item formatted as a 32-bit floating point value (REAL)

Method ReaddatasetValue

Symbol Datatype  Type Explanation
element_no INT INPUT item index you want to read
ReaddatasetValue DWORD RETURN Returns the value of the item formatted as a DWORD value

Method DeleteList

Deletes the internal list of items. This method does not have a interface.

Class classReadDriveSingleParams

Method Start

Symbol Datatype  Type Explanation
driveObjectId INT INPUT Optional: Identification number of the drive object (value = -1: driveObjectId is not used, i.e. the corresponding drive object is only addressed via the hardwareId)
hardwareId HW_IO INPUT hardware id of the device
parameterNumber INT INPUT number of parameter to read
index UINT  INPUT Index of the parameter
Start BOOL RETURN TRUE: Command was started successfully FALSE: Command could not be started, there is an issue in the configuration

Starts a request to read a single parameter defined at the input

For compability reasons, there are two more methods with the name start in this class. In one instance, the input driveObjectId is set as an UINT for legacy users to avoid breaking existing applications. The second instance drops the input driveObjectId completely, if you are using the hardware id of the submodule.

Method GetValueREAL

Symbol Datatype  Type Explanation
GetValueREAL REAL RETURN Returns the value of the item formatted as a 32-bit floating point value (REAL)

Method GetValueDWORD

Symbol Datatype  Type Explanation
GetValueDWORD DWORD RETURN Returns the value of the item formatted as a DWORD value

Class LAcycCom_classWriteDriveParams

Method AddatasetItem

Symbol Datatype  Type Explanation
datasetItem LAcycCom_typeDriveDataset INPUT Item you want to add to the dataset for a write request
element_no INT  INPUT  -1: add to the list. >= 0: Overwrite item on the list
AddatasetItem  INT  RETURN  number of list entries after adding the dataset 

Adds a dataset item to the list of items you want to write to the drive. You can either write all items into a specific list element, or let the system attach the item to the list by setting the element number to -1.

Method Start

Symbol Datatype  Type Explanation
driveObjectId INT INPUT Optional: Identification number of the drive object (value = -1: driveObjectId is not used, i.e. the corresponding drive object is only addressed via the hardwareId)
hardwareId HW_IO INPUT hardware id of the device
parameterCount INT INPUT number of parameters to write
Start BOOL RETURN TRUE: Command was started successfully FALSE: Command could not be started, there is an issue in the configuration

Starts a write operation of parameters previously added to the dataset list via the AddatasetItem method.

Method ReaddatasetItem

Symbol Datatype  Type Explanation
element_no INT INPUT item index you want to read
ReaddatasetItem LAcycCom_typeDriveDataset RETURN Returns the dataset for the element number you requested

Returns the dataset for a given element number. Useful to check, if the parameter was added to the list or to check, if the correct item was overwritten manually.

Method DeleteList

Deletes the internal list of items. This method does not have a interface.

Class LAcycCom_classWriteDriveSingleParams

Method Start

Symbol Datatype  Type Explanation
driveObjectId INT INPUT Optional: Identification number of the drive object (value = -1: driveObjectId is not used, i.e. the corresponding drive object is only addressed via the hardwareId)
hardwareId HW_IO INPUT hardware id of the device
parameterNumber INT INPUT number of parameter to write
index UINT  INPUT Index of the parameter
value REAL  INPUT value that shall be written, formatted as 32-bit REAL
 DwValue DWORD  INPUT value that shall be written, formatted as DWORD
Start BOOL RETURN TRUE: Command was started successfully FALSE: Command could not be started, there is an issue in the configuration

Starts the write operation.

If you would like to write the value as DWORD, please keep the real value at REAL#0.0 (default value), otherwise the real value will be written.

For compability reasons, there are two more methods with the name start in this class. In one instance, the input driveObjectId is set as an UINT for legacy users to avoid breaking existing applications. The second instance drops the input driveObjectId completely, if you are using the hardware id of the submodule.

Structured datatypes

Type LAcycCom_typeDriveDataset

Symbol Datatype Default value Explanation
maxNoOfRequests UINT - Maximum number of requests in use in request buffer
parameterNumber UInt - Number of the parameter
index UInt - Index of the parameter
Rvalue REAL - parameter value formatted as 32-bit floating point value (REAL)
DWvalue DWORD - parameter value formatted as DWORD
errorValue BYTE BYTE#2#11111111 error value during operation

Type LAcycCom_ooptypeDriveDiagnostics

Symbol Datatype Default value Explanation
status WORD - Status identifier when error occurred
subfunctionStatus WORD - Block status or error information
stateNumber LAcycCom_ReadWriteStatus - Internal state when error occurred
driveObjectId USINT - Identification number of the drive object
hardwareId HW_IO HW_IO#default Hardware identifier of the hardware module
parameterCount INT - Total amount of parameters
firstParameterError INT -1 Number of parameter at which the error occurred (-1: no parameter with error)
errorValue BYTE BYTE#2#11111111 Error number (16#FF: no error; else: see error list)

Enumerations

Type LAcycComstateDef

Values:

BUSY IDLE DONE ABORTED ERROR